Add OpenArm environments #4089
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| Original file line number | Diff line number | Diff line change | ||||||
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| @@ -0,0 +1,170 @@ | ||||||||
| # Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). | ||||||||
| # All rights reserved. | ||||||||
| # | ||||||||
| # SPDX-License-Identifier: BSD-3-Clause | ||||||||
|
|
||||||||
| """Configuration of OpenArm robots. | ||||||||
| The following configurations are available: | ||||||||
| * :obj:`OPENARM_BI_CFG`: OpenArm robot with two arms. | ||||||||
| * :obj:`OPENARM_BI_HIGH_PD_CFG`: OpenArm robot with two arms and stiffer PD control. | ||||||||
| * :obj:`OPENARM_UNI_CFG`: OpenArm robot with one arm. | ||||||||
| * :obj:`OPENARM_UNI_HIGH_PD_CFG`: OpenArm robot with one arm and stiffer PD control. | ||||||||
| Reference: https://github.com/enactic/openarm_isaac_lab | ||||||||
| Please `git clone https://github.com/enactic/openarm_isaac_lab` and `export PYTHONPATH=$PYTHONPATH:~/openarm_isaac_lab` to use these configurations. | ||||||||
| """ | ||||||||
|
|
||||||||
| from source.openarm.openarm.tasks.manager_based.openarm_manipulation import OPENARM_ROOT_DIR | ||||||||
|
|
||||||||
| import isaaclab.sim as sim_utils | ||||||||
| from isaaclab.actuators import ImplicitActuatorCfg | ||||||||
| from isaaclab.assets.articulation import ArticulationCfg | ||||||||
|
|
||||||||
| OPENARM_BI_CFG = ArticulationCfg( | ||||||||
| spawn=sim_utils.UsdFileCfg( | ||||||||
| usd_path=f"{OPENARM_ROOT_DIR}/usds/openarm_bimanual/openarm_bimanual.usd", | ||||||||
| rigid_props=sim_utils.RigidBodyPropertiesCfg( | ||||||||
| disable_gravity=False, | ||||||||
| max_depenetration_velocity=5.0, | ||||||||
| ), | ||||||||
| articulation_props=sim_utils.ArticulationRootPropertiesCfg( | ||||||||
| enabled_self_collisions=False, | ||||||||
| solver_position_iteration_count=8, | ||||||||
| solver_velocity_iteration_count=0, | ||||||||
| ), | ||||||||
| ), | ||||||||
| init_state=ArticulationCfg.InitialStateCfg( | ||||||||
| joint_pos={ | ||||||||
| "openarm_left_joint1": 0.0, | ||||||||
| "openarm_left_joint2": 0.0, | ||||||||
| "openarm_left_joint3": 0.0, | ||||||||
| "openarm_left_joint4": 0.0, | ||||||||
| "openarm_left_joint5": 0.0, | ||||||||
| "openarm_left_joint6": 0.0, | ||||||||
| "openarm_left_joint7": 0.0, | ||||||||
| "openarm_right_joint1": 0.0, | ||||||||
| "openarm_right_joint2": 0.0, | ||||||||
| "openarm_right_joint3": 0.0, | ||||||||
| "openarm_right_joint4": 0.0, | ||||||||
| "openarm_right_joint5": 0.0, | ||||||||
| "openarm_right_joint6": 0.0, | ||||||||
| "openarm_right_joint7": 0.0, | ||||||||
| "openarm_left_finger_joint.*": 0.0, | ||||||||
| "openarm_right_finger_joint.*": 0.0, | ||||||||
| }, | ||||||||
| ), | ||||||||
| actuators={ | ||||||||
| "openarm_arm": ImplicitActuatorCfg( | ||||||||
| joint_names_expr=[ | ||||||||
| "openarm_left_joint[1-7]", | ||||||||
| "openarm_right_joint[1-7]", | ||||||||
| ], | ||||||||
| velocity_limit_sim={ | ||||||||
| "openarm_left_joint[1-2]": 2.175, | ||||||||
| "openarm_right_joint[1-2]": 2.175, | ||||||||
| "openarm_left_joint[3-4]": 2.175, | ||||||||
| "openarm_right_joint[3-4]": 2.175, | ||||||||
| "openarm_left_joint[5-7]": 2.61, | ||||||||
| "openarm_right_joint[5-7]": 2.61, | ||||||||
| }, | ||||||||
| effort_limit_sim={ | ||||||||
| "openarm_left_joint[1-2]": 40.0, | ||||||||
| "openarm_right_joint[1-2]": 40.0, | ||||||||
| "openarm_left_joint[3-4]": 27.0, | ||||||||
| "openarm_right_joint[3-4]": 27.0, | ||||||||
| "openarm_left_joint[5-7]": 7.0, | ||||||||
| "openarm_right_joint[5-7]": 7.0, | ||||||||
| }, | ||||||||
| stiffness=80.0, | ||||||||
| damping=4.0, | ||||||||
| ), | ||||||||
| "openarm_gripper": ImplicitActuatorCfg( | ||||||||
| joint_names_expr=[ | ||||||||
| "openarm_left_finger_joint.*", | ||||||||
| "openarm_right_finger_joint.*", | ||||||||
| ], | ||||||||
| velocity_limit_sim=0.2, | ||||||||
| effort_limit_sim=333.33, | ||||||||
| stiffness=2e3, | ||||||||
| damping=1e2, | ||||||||
| ), | ||||||||
| }, | ||||||||
| soft_joint_pos_limit_factor=1.0, | ||||||||
| ) | ||||||||
| """Configuration of OpenArm Bimanual robot.""" | ||||||||
|
|
||||||||
| OPENARM_UNI_CFG = ArticulationCfg( | ||||||||
| spawn=sim_utils.UsdFileCfg( | ||||||||
| usd_path=f"{OPENARM_ROOT_DIR}/usds/openarm_unimanual/openarm_unimanual.usd", | ||||||||
| rigid_props=sim_utils.RigidBodyPropertiesCfg( | ||||||||
| disable_gravity=False, | ||||||||
| max_depenetration_velocity=5.0, | ||||||||
| ), | ||||||||
| articulation_props=sim_utils.ArticulationRootPropertiesCfg( | ||||||||
| enabled_self_collisions=False, | ||||||||
| solver_position_iteration_count=8, | ||||||||
| solver_velocity_iteration_count=0, | ||||||||
| ), | ||||||||
| ), | ||||||||
| init_state=ArticulationCfg.InitialStateCfg( | ||||||||
| joint_pos={ | ||||||||
| "openarm_joint1": 1.57, | ||||||||
| "openarm_joint2": 0.0, | ||||||||
| "openarm_joint3": -1.57, | ||||||||
| "openarm_joint4": 1.57, | ||||||||
| "openarm_joint5": 0.0, | ||||||||
| "openarm_joint6": 0.0, | ||||||||
| "openarm_joint7": 0.0, | ||||||||
| "openarm_finger_joint.*": 0.044, | ||||||||
| }, | ||||||||
| ), | ||||||||
| actuators={ | ||||||||
| "openarm_arm": ImplicitActuatorCfg( | ||||||||
| joint_names_expr=["openarm_joint[1-7]"], | ||||||||
| velocity_limit_sim={ | ||||||||
| "openarm_joint[1-2]": 2.175, | ||||||||
| "openarm_joint[3-4]": 2.175, | ||||||||
| "openarm_joint[5-7]": 2.61, | ||||||||
| }, | ||||||||
| effort_limit_sim={ | ||||||||
| "openarm_joint[1-2]": 40.0, | ||||||||
| "openarm_joint[3-4]": 27.0, | ||||||||
| "openarm_joint[5-7]": 7.0, | ||||||||
| }, | ||||||||
| stiffness=80.0, | ||||||||
| damping=4.0, | ||||||||
| ), | ||||||||
| "openarm_gripper": ImplicitActuatorCfg( | ||||||||
| joint_names_expr=["openarm_finger_joint.*"], | ||||||||
| velocity_limit_sim=0.2, | ||||||||
| effort_limit_sim=333.33, | ||||||||
| stiffness=2e3, | ||||||||
| damping=1e2, | ||||||||
| ), | ||||||||
| }, | ||||||||
| soft_joint_pos_limit_factor=1.0, | ||||||||
| ) | ||||||||
| """Configuration of OpenArm Unimanual robot.""" | ||||||||
|
|
||||||||
| OPENARM_BI_HIGH_PD_CFG = OPENARM_BI_CFG.copy() | ||||||||
| OPENARM_BI_HIGH_PD_CFG.spawn.rigid_props.disable_gravity = True | ||||||||
| OPENARM_BI_HIGH_PD_CFG.actuators["openarm_arm"].stiffness = 400.0 | ||||||||
| OPENARM_BI_HIGH_PD_CFG.actuators["openarm_arm"].damping = 80.0 | ||||||||
| OPENARM_BI_HIGH_PD_CFG.actuators["openarm_gripper"].stiffness = 2e3 | ||||||||
| OPENARM_BI_HIGH_PD_CFG.actuators["openarm_gripper"].damping = 1e2 | ||||||||
|
Comment on lines
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Contributor
There was a problem hiding this comment. style: High PD configuration sets same stiffness/damping values as base config for gripper actuators, making these lines redundant.
Suggested change
|
||||||||
| """Configuration of OpenArm Bimanual robot with stiffer PD control. | ||||||||
| This configuration is useful for task-space control using differential IK. | ||||||||
| """ | ||||||||
|
|
||||||||
| OPENARM_UNI_HIGH_PD_CFG = OPENARM_UNI_CFG.copy() | ||||||||
| OPENARM_UNI_HIGH_PD_CFG.spawn.rigid_props.disable_gravity = True | ||||||||
| OPENARM_UNI_HIGH_PD_CFG.actuators["openarm_arm"].stiffness = 400.0 | ||||||||
| OPENARM_UNI_HIGH_PD_CFG.actuators["openarm_arm"].damping = 80.0 | ||||||||
| """Configuration of OpenArm Unimanual robot with stiffer PD control. | ||||||||
| This configuration is useful for task-space control using differential IK. | ||||||||
| """ | ||||||||
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logic: Importing from external repository creates fragile dependency - users must manually clone and configure PYTHONPATH. Consider error handling if import fails. Should there be a fallback or error handling if the external repository is not available?